binocularVisionHandover/stereoconfig.py

import numpy as np


# 双目相机参数
class stereoCamera(object):
    def __init__(self):
        # 左相机内参
        self.cam_matrix_left = np.load("Camera matrix left.npy")
        # 右相机内参
        self.cam_matrix_right = np.load('CameraMatrix right.npy')

        # 左右相机畸变系数:[k1, k2, p1, p2, k3]
        self.distortion_l = np.load('distCoeffs left.npy')
        self.distortion_r = np.load('distCoeffs right.npy')

        # 旋转矩阵
        self.R = np.load('R.npy')

        # 平移矩阵
        self.T = np.load('T.npy')

        # 主点列坐标的差
        self.doffs = 0.0

        # 指示上述内外参是否为经过立体校正后的结果
        self.isRectified = False

    def setMiddleBurryParams(self):
        self.cam_matrix_left = np.load("Camera matrix left.npy")
        self.cam_matrix_right = np.load('CameraMatrix right.npy')

        self.distortion_l = np.load('distCoeffs left.npy')  # 以下6行代码是添加的
        self.distortion_r = np.load('distCoeffs right.npy')
        self.R = np.load('R.npy')
        self.T = np.load('T.npy')
        self.doffs = 21.83546358
        self.isRectified = True